#pragma once

#include "visual_data.h"

class DrawInPic
{
public:
	DrawInPic();
	~DrawInPic();

	bool Init(cv::Mat& external, cv::Mat& intrinsic);

	void DrawPointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, cv::Scalar sc, cv::Mat& image);

	void DrawTray(cv::Mat& image);

	void DrowBox(cv::RotatedRect rect, cv::Mat& image);

	//void DrowCoordinate(SKUPOSITION position, cv::Mat& rgb, float delx, float delty, int count);

	//void DrowSucker(float angle, BOXINFO recog, float deltx, float delty, cv::Mat& image);

private:
	cv::Mat m_intriMatrix = {};	//内参
	cv::Mat m_distorMatrix = {};	//畸变系数
	cv::Mat m_exteMatrix = {};	// 外参
};
